System for automatically attaching and detaching seismic nodes directly to a deployment cable

ABSTRACT

Embodiments, including apparatuses, systems and methods, for automatically attaching and detaching seismic devices to a deployment cable, including a plurality of autonomous seismic nodes. A node installation system may include a moveable node carrier coupled to a cable detection device and a node attachment device that is configured to move a direct attachment mechanism on a node into a locking or closed position about the deployment cable. In an embodiment for retrieval and/or detachment operations, the system may also be configured to automatically detect the position of a node and remove the node from the deployment line by actuating the direct attachment mechanism into an open or unlocked position. Other devices besides a node may be attached and detached from the deployment line if they are coupled to one or more direct attachment mechanisms.

PRIORITY

The present application is a continuation of U.S. application Ser. No.15/366,325, filed on Dec. 1, 2016, which is a continuation of U.S.application Ser. No. 14/820,306, filed on Aug. 6, 2015, now U.S. Pat.No. 9,541,663, which claims priority to U.S. provisional patentapplication No. 62/034,620, filed on Aug. 7, 2014. The entire contentsof each of the above documents is incorporated herein by reference.

BACKGROUND OF THE INVENTION Field of the Invention

This invention relates to marine seismic systems and more particularlyrelates to the automatic attachment and/or detachment of autonomousseismic nodes to a deployment cable.

Description of the Related Art

Marine seismic data acquisition and processing generates a profile(image) of a geophysical structure under the seafloor. Reflectionseismology is a method of geophysical exploration to determine theproperties of the Earth's subsurface, which is especially helpful indetermining an accurate location of oil and gas reservoirs or anytargeted features. Marine reflection seismology is based on using acontrolled source of energy (typically acoustic energy) that sends theenergy through seawater and subsurface geologic formations. Thetransmitted acoustic energy propagates downwardly through the subsurfaceas acoustic waves, also referred to as seismic waves or signals. Bymeasuring the time it takes for the reflections or refractions to comeback to seismic receivers (also known as seismic data recorders ornodes), it is possible to evaluate the depth of features causing suchreflections. These features may be associated with subterraneanhydrocarbon deposits or other geological structures of interest.

In general, either ocean bottom cables (OBC) or ocean bottom nodes (OBN)are placed on the seabed. For OBC systems, a cable is placed on theseabed by a surface vessel and may include a large number of seismicsensors, typically connected every 25 or 50 meters into the cable. Thecable provides support to the sensors, and acts as a transmission mediumfor power to the sensors and data received from the sensors. One suchcommercial system is offered by Sercel under the name SeaRay®. RegardingOBN systems, and as compared to seismic streamers and OBC systems, OBNsystems have nodes that are discrete, autonomous units (no directconnection to other nodes or to the marine vessel) where data is storedand recorded during a seismic survey. One such OBN system is offered bythe Applicant under the name Trilobit®. For OBN systems, seismic datarecorders are placed directly on the ocean bottom by a variety ofmechanisms, including by the use of one or more of Autonomous UnderwaterVehicles (AUVs), Remotely Operated Vehicles (ROVs), by dropping ordiving from a surface or subsurface vessel, or by attaching autonomousnodes to a cable that is deployed behind a marine vessel.

Autonomous ocean bottom nodes are independent seismometers, and in atypical application they are self-contained units comprising a housing,frame, skeleton, or shell that includes various internal components suchas geophone and hydrophone sensors, a data recording unit, a referenceclock for time synchronization, and a power source. The power sourcesare typically battery-powered, and in some instances the batteries arerechargeable. In operation, the nodes remain on the seafloor for anextended period of time. Once the data recorders are retrieved, the datais downloaded and batteries may be replaced or recharged in preparationof the next deployment

One known node storage, deployment, and retrieval system is disclosed inU.S. Pat. No. 7,883,292 to Thompson, et al. (“Thompson '292”), and isincorporated herein by reference. Thompson et al. discloses a method andapparatus for storing, deploying and retrieving a plurality of seismicdevices, and discloses attaching the node to the deployment line byusing a rope, tether, chain, or other cable such as a lanyard that istied or otherwise fastened to each node and to a node attachment pointon the deployment line. U.S. Pat. No. 7,990,803 to Ray et al. (“Ray”)discloses a method for attaching an ocean bottom node to a deploymentcable and deploying that node into the water. U.S. Pat. No. 6,024,344 toBuckley, et al. (“Buckley”) also involves attaching seismic nodes to thedeployment line. Buckley teaches that each node may be connected to awire that is then connected to the deployment line though a separateconnector. This connecting wire approach is cumbersome because the wirescan get tangled or knotted, and the seismic nodes and related wiring canbecome snagged or tangled with structures or debris in the water or onthe sea floor or on the marine vessel. U.S. Pat. No. 8,427,900 toFleure, et al. (“Fleure”) and U.S. Pat. No. 8,675,446 to Gateman, et al.(“Gateman”) each disclose a deployment line with integral node casingsor housings for receiving seismic nodes or data recorders. One problemwith integration of the casings with the deployment line is that thedeployment line becomes difficult to manage and store. The integratedcasings make the line difficult to wind onto spools or otherwise storemanageably. In these embodiments, the node casings remain attacheddirectly in-line with the cable, and therefore, this is a difficult andcomplex operation to separate the electronics sensor package from thenode casings.

The referenced shortcomings are not intended to be exhaustive, butrather are among many that tend to impair the effectiveness ofpreviously known techniques in seafloor deployment systems; however,those mentioned here are sufficient to demonstrate that themethodologies appearing in the art have not been satisfactory and that asignificant need exists for the systems, apparatuses, and techniquesdescribed and claimed in this disclosure.

The existing techniques for attaching an autonomous node to a cablesuffer from many disadvantages. For example, many conventionaltechniques manually attach a node to a cable, which can be dangerous,time consuming, and inefficient. Some techniques attach a node to a ropethat is separately coupled to the deployment line, which often getstangled during deployment and/or retrieval to the seabed, and the nodedoes not consistently land flat on the seabed, which can cause poorseabed/node coupling and noise. The spiraling of the tether cable canalso cause problems during the retrieval when separating the node fromthe cable. Further, prior techniques of pre-mounted node casings on thedeployment line or pre-cut connecting ropes/wires between the node andthe deployment line do not allow for a flexible change in adjacent nodespacing/distance; any change of node spacing requires significant amountof cost and time. A marine vessel should be configured to efficientlyattach and detach nodes before and after their use in the water. A novelnode deployment system is needed that is autonomous, limits the need foroperator involvement, handling, and attaching/detaching of the nodes,and is very fast and efficient. A novel node attachment and deploymentsystem is needed that can directly attach nodes to a deployment line inpredetermined and/or variable positions and provide more accurateplacement and coupling of the nodes to the cable.

SUMMARY OF THE INVENTION

Embodiments, including apparatuses, systems and methods, for attachingand detaching seismic devices to a deployment cable, including aplurality of autonomous seismic nodes. Other devices besides a node maybe attached and detached from the deployment line if they are coupled toone or more direct attachment mechanisms.

In one embodiment, a node installation system may include a moveablenode carrier coupled to a cable detection device and a node attachmentdevice that is configured to move a direct attachment mechanism on anode into a locking or closed position about the deployment cable. In anembodiment for retrieval and/or detachment operations, the system mayalso be configured to automatically detect the position of a node andremove the node from the deployment line by actuating a directattachment mechanism on the node into an open or unlocked position. Thesystem may be located within a portable shipping container that may betransferred to the back deck of a marine vessel. In a furtherembodiment, the system may comprise a fail safe node remover.

In one embodiment, a method of automatically attaching seismic nodes toa deployment line includes positioning at least one autonomous seismicnode with at least one direct attachment mechanism next to a length of adeployment line, accelerating the at least one autonomous seismic nodeto a speed that is approximately the same speed as the deployment line,attaching the at least one direct attachment mechanism to the deploymentline with a node installation device. The method may further compriseautomatically detecting a node placement position on the deploymentline, locking at least one direct attachment mechanism onto thedeployment line, and detaching a plurality of autonomous seismic nodesfrom the deployment line.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings form part of the present specification and areincluded to further demonstrate certain aspects of the presentinvention. The invention may be better understood by reference to one ormore of these drawings in combination with the detailed description ofspecific embodiments presented herein.

FIG. 1A is a schematic diagram illustrating one embodiment of a systemfor marine deployment of an autonomous seismic node.

FIG. 1B is a schematic diagram illustrating one embodiment of a systemfor marine deployment of an autonomous seismic node.

FIG. 2A illustrates a perspective view diagram of one embodiment of anautonomous seismic node.

FIG. 2B illustrates a perspective view diagram of another embodiment ofan autonomous seismic node.

FIG. 2C illustrates a perspective view diagram of one embodiment of adirect attachment mechanism that may be coupled to an autonomous seismicnode.

FIG. 2D illustrates a perspective view diagram of one embodiment ofactuating the direct attachment mechanism from FIG. 2C.

FIG. 2E illustrates a perspective view diagram of another embodiment ofactuating the direct attachment mechanism from FIG. 2C.

FIG. 3 is a schematic diagram illustrating one embodiment of a nodedeployment system and a node storage and service system on the back deckof a marine vessel.

FIG. 4A illustrates a side view of one embodiment of a deploymentsystem.

FIG. 4B illustrates a top view of one embodiment of a deployment system.

FIG. 4C illustrates a side view of another embodiment of a deploymentsystem.

FIG. 5A is a perspective view diagram illustrating one embodiment of anode installation container comprising a node installation system.

FIG. 5B is a side view diagram illustrating one embodiment of the nodeinstallation container of FIG. 5A.

FIG. 5C is a top view diagram illustrating one embodiment of a nodeinstallation container comprising a node installation system.

FIG. 6A is a perspective view diagram illustrating one embodiment of anode installation device.

FIG. 6B is a side view diagram illustrating the node installation deviceof FIG. 6A.

FIG. 6C is a front view diagram illustrating the node installationdevice of FIG. 6A.

FIGS. 7A-7D are side view diagrams illustrating various embodiment of anode installation device in multiple positions.

FIGS. 8A-8N are side view diagrams illustrating one embodiment of a nodeinstallation device in multiple operating positions for node attachmentand node detachment to a cable.

FIGS. 9A-9C are side view diagrams illustrating one embodiment of a nodeinstallation container with a node installation system in multipleoperating positions within a node installation container.

FIG. 10A is a perspective view diagram illustrating one embodiment of anode feeder system.

FIG. 10B is a top view diagram illustrating the node feeder system ofFIG. 10A.

FIG. 10C is a side view diagram illustrating the node feeder system ofFIG. 10A.

FIG. 11 illustrates one embodiment of a method of attaching a pluralityof seismic nodes to a deployment line.

FIG. 12 illustrates one embodiment of a method of detaching a pluralityof seismic nodes attached to a deployment line.

DETAILED DESCRIPTION

Various features and advantageous details are explained more fully withreference to the non-limiting embodiments that are illustrated in theaccompanying drawings and detailed in the following description.Descriptions of well-known starting materials, processing techniques,components, and equipment are omitted so as not to unnecessarily obscurethe invention in detail. It should be understood, however, that thedetailed description and the specific examples, while indicatingembodiments of the invention, are given by way of illustration only, andnot by way of limitation. Various substitutions, modifications,additions, and/or rearrangements within the spirit and/or scope of theunderlying inventive concept will become apparent to those skilled inthe art from this disclosure. The following detailed description doesnot limit the invention.

Reference throughout the specification to “one embodiment” or “anembodiment” means that a particular feature, structure, orcharacteristic described in connection with an embodiment is included inat least one embodiment of the subject matter disclosed. Thus, theappearance of the phrases “in one embodiment” or “in an embodiment” invarious places throughout the specification is not necessarily referringto the same embodiment. Further, the particular features, structures, orcharacteristics may be combined in any suitable manner in one or moreembodiments.

Node Deployment

FIGS. 1A and 1B illustrate a layout of a seabed seismic recorder systemthat may be used with autonomous seismic nodes for marine deployment.FIG. 1A is a diagram illustrating one embodiment of a marine deploymentsystem 100 for marine deployment of seismic nodes 110. One or moremarine vessels deploy and recover a cable (or rope) with attached sensornodes according to a particular survey pattern. In an embodiment, thesystem includes a marine vessel 106 designed to float on a surface 102of a body of water, which may be a river, lake, ocean, or any other bodyof water. The marine vessel 106 may deploy the seismic nodes 110 in thebody of water or on the floor 104 of the body of water, such as aseabed. In an embodiment, the marine vessel 106 may include one or moredeployment lines 108. One or more seismic nodes 110 may be attacheddirectly to the deployment line 108. Additionally, the marine deploymentsystem 100 may include one or more acoustic positioning transponders112, one or more weights 114, one or more pop up buoys 116, and one ormore surface buoys 118. As is standard in the art, weights 114 can beused at various positions of the cable to facilitate the lowering andpositioning of the cable, and surface buoys 118 or pop up buoys 116 maybe used on the cable to locate, retrieve, and/or raise various portionsof the cable. Acoustic positioning transponders 112 may also be usedselectively on various portions of the cable to determine the positionsof the cable/sensors during deployment and post deployment. The acousticpositioning transponders 112 may transmit on request an acoustic signalto the marine vessel for indicating the positioning of seismic nodes 110on sea floor 104. In an embodiment, weights 114 may be coupled todeployment line 108 and be arranged to keep the seismic nodes 110 in aspecific position relative to sea floor 104 at various points, such asduring start, stop, and snaking of deployment line 108.

FIG. 1B is a close-up view illustrating one embodiment of a system 100for marine deployment of seismic nodes 110. In an embodiment, thedeployment line 108 may be a metal cable (steel, galvanized steel, orstainless steel). Alternatively, the deployment line 108 may includechain linkage, rope (polymer), wire, or any other suitable material fortethering to the marine vessel 106 and deploying one or more seismicnodes 110. In an embodiment, the deployment line 108 and the seismicnodes 110 may be stored on the marine vessel 106. For example, thedeployment line may be stored on a spool or reel or winch. The seismicnodes 110 may be stored in one or more storage containers. One ofordinary skill may recognize alternative methods for storing anddeploying the deployment line 108 and the seismic nodes 110.

In one embodiment, the deployment line 108 and seismic nodes 110 arestored on marine vessel 106 and deployed from a back deck of the vessel106, although other deployment locations from the vessel can be used. Asis well known in the art, a deployment line 108, such as a rope orcable, with a weight attached to its free end is dropped from the backdeck of the vessel. The seismic nodes 110 are preferably directlyattached in-line to the deployment line 108 at a regular, variable, orselectable interval (such as 25 meters) while the deployment line 108 islowered through the water column and draped linearly or at variedspacing onto the seabed. During recovery each seismic node 110 may beclipped off the deployment line 108 as it reaches deck level of thevessel 106. Preferably, nodes 110 are attached directly onto thedeployment line 108 in an automated process using node attachment orcoupling machines on board the deck of the marine vessel 106 at one ormore workstations or containers. Likewise, a node detaching ordecoupling machine is configured to detach or otherwise disengage theseismic nodes 110 from the deployment line 108, and in some instancesmay use a detachment tool for such detaching. Alternatively, seismicnodes 110 can be attached via manual or semi-automatic methods. Theseismic nodes 110 can be attached to the deployment line 108 in avariety of configurations, which allows for proper rotation of theseismic node 110 about the deployment line 108 and allows for minimalaxial movement on deployment line 108. For example, the deployment line108 can be attached to the top, side, or center of seismic node 110 viaa variety of configurations.

Once the deployment line 108 and the seismic nodes 110 are deployed onthe sea floor 104, a seismic survey can be performed. One or more marinevessels 106 may contain a seismic energy source (not shown) and transmitacoustic signals to the sea floor 104 for data acquisition by theseismic nodes 110. Embodiments of the system 100 may be deployed in bothcoastal and offshore waters in various depths of water. For example, thesystem may be deployed in a few meters of water or in up to severalthousand meters of water. In some embodiments, the depth may be betweentwenty (20) meters and five hundred (500) meters or more. In someconfigurations surface buoy 118 or pop up buoy 116 may be retrieved bymarine vessel 106 when the seismic nodes 110 are to be retrieved fromthe sea floor 104. Thus, the system 110 may not require retrieval bymeans of a submersible or diver. Rather, pop up buoy 116 or surface buoy118 may be picked up on the surface 102 and deployment line 108 may beretrieved along with seismic nodes 110.

Autonomous Seismic Node Design

FIG. 2A illustrates a perspective view diagram of an autonomous oceanbottom seismic node 110. The seismic node 110 may include a body 202,such as a housing, frame, skeleton, or shell, which may be easilydissembled into various components. Additionally, the seismic node 110may include one or more battery cells 204. In an embodiment, the batterycells 204 may be lithium-ion battery cells or rechargeable battery packsfor an extended endurance (such as 90 days) on the seabed, but one ofordinary skill will recognize that a variety of alternative battery celltypes or configurations may also be used. Additionally, the seismic nodemay include a pressure release valve 216 configured to release unwantedpressure from the seismic node 110 at a pre-set level. The valveprotects against fault conditions like water intrusion and outgassingfrom a battery package. Additionally, the seismic node may include anelectrical connector 214 configured to allow external access toinformation stored by internal electrical components, datacommunication, and power transfer. During the deployment the connectoris covered by a pressure proof watertight cap 218 (shown in FIG. 2B). Inother embodiments, the node does not have an external connector and datais transferred to and from the node wirelessly, such as viaelectromagnetic or optical links.

In an embodiment, the internal electrical components may include one ormore hydrophones 210, one or more (preferably three) geophones 206 oraccelerometers, and a data recorder 212. In an embodiment, the datarecorder 212 may be a digital autonomous recorder configured to storedigital data generated by the sensors or data receivers, such ashydrophone 210 and the one or more geophones or accelerometers 206. Oneof ordinary skill will recognize that more or fewer components may beincluded in the seismic node 110. For example, there are a variety ofsensors that can be incorporated into the node including and notexclusively, inclinometers, rotation sensors, translation sensors,heading sensors, and magnetometers. Except for the hydrophone, thesecomponents are preferably contained within the node housing that isresistant to temperatures and pressures at the bottom of the ocean, asis well known in the art.

While the node in FIG. 2A is circular in shape, the node can be anyvariety of geometric configurations, including square, rectangular,hexagonal, octagonal, cylindrical, and spherical, among other designs,and may or may not be symmetrical about its central axis. In oneembodiment, the node consists of a watertight, sealed case or pressurehousing that contains all of the node's internal components. In oneembodiment, the node is square or substantially square shaped so as tobe substantially a quadrilateral, as shown in FIG. 2B. One of skill inthe art will recognize that such a node is not a two-dimensional object,but includes a height, and in one embodiment may be considered a box,cube, elongated cube, or cuboid. In one embodiment, the node isapproximately 350 mm×350 mm wide/deep with a height of approximately 150mm. In one embodiment, the body 202 of the node has a height ofapproximately 100 mm and other coupling features, such as node locks 220or protrusions 242, may provide an additional 20-50 mm or more height tothe node.

In another embodiment, as shown in FIG. 2B, the node's pressure housingmay be coupled to and/or substantially surrounded by an externalnon-pressurized node housing 240 that may include integrated fendersand/or bumpers. Various portions of the node housing 240 may be open andexpose the pressurized node housing as needed, such as for hydrophone210, node locks 220, and data/power transfer connection 214 (shown witha fitted pressure cap 218 in FIG. 2B). In one embodiment, the upper andlower portions of the fender housing include a plurality of grippingteeth or protrusions 242 for engaging the seabed and for general storageand handling needs. In other embodiments, a bumper is attached to eachof the corners of the node housing via bolts or pins. In anotherembodiment, portions of the housing, such as the corners, includegrooved pockets or recesses or receptacles that engage a correspondingmating unit on the node housing for integrated stacking/storing of thenodes. External node housing 240 provides many functions, such asprotecting the node from shocks and rough treatment, coupling the nodeto the seabed for better readings and stability, and assisting in thestackability, storing, alignment, and handling of the nodes. Each nodehousing may be made of a durable material such as rubber, plastic,carbon fiber, or metal. In still other embodiments, the seismic node 110may include a protective shell or bumper configured to protect the body.

Node Locks

In one embodiment, the seismic node 110 comprises one or more directattachment mechanisms and/or node locks 220 that may be configured todirectly attach the seismic node 110 to a deployment line 108. This maybe referred to as direct or in-line node coupling. In one embodiment,the attachment mechanism 220 comprises a locking mechanism to helpsecure or retain the deployment line 108 to the seismic node 110. Aplurality of direct attachment mechanisms may be located on any surfacesof the node 110 or node housing 240. In one embodiment, a plurality ofnode locks 220 is positioned substantially in the center and/or middleof a surface of a node or node housing. The node locks may attachdirectly to the pressure housing and extend through the node housing240. In this embodiment, a deployment line, when coupled to theplurality of node locks, is substantially coupled to the seismic node onits center axis. In some embodiments, the node locks may be offset orpartially offset from the center axis of the node, which may aid thebalance and handling of the node during deployment and retrieval. Thenode locks 220 are configured to attach, couple, and/or engage a portionof the deployment line to the node. Thus, a plurality of node locks 220operates to couple a plurality of portions of the deployment line to thenode. The node locks are configured to keep the deployment line fastenedto the node during a seismic survey, such as during deployment from avessel until the node reaches the seabed, during recording of seismicdata while on the seabed, and during retrieval of the node from theseabed to a recovery vessel. The disclosed attachment mechanism 220 maybe moved from an open and/or unlocked position to a closed and/or lockedposition via autonomous, semi-autonomous, or manual methods. In oneembodiment, the components of node lock 220 are made of titanium,stainless steel, aluminum, marine bronze, and/or other substantiallyinert and non-corrosive materials.

As shown in FIG. 2B, two node locks 220 are positioned substantially inthe middle top face of the node. The node locks may be asymmetrical andoriented in opposing and/or offset orientations for better stabilitywhen deploying and retrieving the node from the seabed and formanufacturing/assembly purposes. Node locks may be configured in apositively open and/or a positively closed position, depending on thetype of coupling/decoupling machines used. In some embodiments, a springmechanism is used to bias the node lock in a closed and/or openposition, and in other embodiments other biasing members may be used,such as a flexible plate, a torsion spring, or other bendable/twistablebiasing members, as well as offset travel paths for the deployment wirecausing it to act as a spring due to its in-line stiffness. A ferrule orother stopping mechanism 209 may be located on either side of the nodeon the deployment line, which helps prevent movement of the node on thedeployment line, facilitates attaching/detaching of the node from theline, and facilitates seismic acoustic decoupling between the deploymentline and the node. In other embodiments, ferrules and other stoppers canbe used as a single stop between adjacent nodes (e.g., only one ferrulebetween each node), a plurality of redundant stoppers can be usedbetween each node, or a double stopper and swivel type arrangement canbe used between each node. A ferrule or stopper may limit the movementof the node by many configurations, such as by a sliding attachmentpoint where the node slides between the stoppers, or the stopper mayslide inside a cavity of the node and act as a sliding cavity stopper.The position of the stopper(s) on the deployment line and the couplingof the node to the deployment line is configured for acoustic decouplingbetween the node and the deployment line. In one embodiment, thedistance between adjacent ferrules is greater than the width of thenode, which facilitates the node to be seismically de-coupled from thewire/rope of the deployment line. In some embodiments, each node lockacts as a swivel to allow rotation of the node around the deploymentline.

FIGS. 2C-2E illustrate perspective views of a direct attachmentmechanism or node lock 220 that may be coupled to an autonomous seismicnode. Node 110 may be coupled to a plurality of node locks 220. Nodelock 220 is shown in a closed and/or locked position in FIG. 2C and inan open and/or unlocked position in FIG. 2D. Node lock 220 may comprisea latch 222 that is configured to move between an open and/or unlockedposition and a closed and/or locked position. Thus, node lock 220 maymove between an open and closed position by actuation of latch 222. Nodelock 220 may comprise one or more plates 229 separate by one or morespacers 226. Latch 222 may be coupled to a biasing mechanism or spring224 and a latch pin or shaft 225. Latch 222 is able to move from an openposition to a closed position by rotation of the latch around shaft 225and is kept in a closed position by the spring. The latch may beactuated and/or opened by depressing and/or engaging portion 222 a ofthe latch. When 222 a is not depressed, spring 224 biases the latch to aclosed position. Node lock 220 further comprises an opening 221 that isconfigured to receive a deployment line 108 and may be formed betweenface plates 229 and latch 222. In one embodiment, opening 221 isconfigured to receive a wide variety of other structures, such as rope,rods, shafts, pins, and other cylindrical or non-cylindrical objects.The node lock is in an open position when the opening 221 is open and/orconfigured to receive a deployment line (e.g., the latch is depressed atportion 222 a) and is in a closed position when the opening 221 isclosed and/or not configured to receive a retaining structure (e.g., thelatch portion 222 a is not actuated). For example, FIG. 2C shows thenode lock in a closed position and FIGS. 2D and 2E show the node lock inan open position. By opening and closing node lock 220, the lock isconfigured to retain and release a deployment line or other similarfastening object. In some embodiments, latch 222 may have a weak portionthat is configured to break when a predetermined amount of force isapplied to the node (whether directly or through the deployment line).For example, in some situations a node lock may fail and/or the latchmay not move between a closed and an open position. To remove the nodefrom the deployment line, the node lock may need to be forcibly removedfrom the line and/or node. Various manual and/or automatic methods maybe used to apply a predetermined force to the node lock to break a weaklatch portion of the node lock. Thus, in some situations, the deploymentline may be safely removed and/or de-coupled from the seismic node.

In one embodiment, node lock 220 remains in a locked position by aspring or other biasing mechanism unless actuated and/or specificallyopened. As shown in FIG. 2D, node lock 220 may be actuated from a closedposition to an open position by a locking/unlocking tool or mechanism234, which may be a roller in one embodiment. Roller 234 may depress aportion of the node lock (such as latch portion 222 a) to move the lockinto an open position. The roller may comprise one or more flanges orprotrusions 234 a that may slide along one or more guides or channels onthe node and/or node locks and may be used to restrain the deploymentline during coupling to the node lock and to actuate and/or depress thenode lock to move it from an open positioned to a closed position (andvice versa). In one embodiment, the roller is designed with a doubleflange to contact and depress the locks on either side of the nodeirrespective of the direction of travel of the node. In otherembodiments, attachment/detachment tool 234 may be a flat steel bar,rod, or fork that may be used manually or automatically to push the lockopen. For example, as shown in FIG. 2E, node lock 220 may be actuated bya moving rod or cylinder point 244 that depresses latch portion 222 a.In still other embodiments, a plate or one or more contact points on aplate may depress and/or contact latch 222 and move it between a closedposition and an open position.

While the node locks in this disclosure are described in the context ofautonomous seismic nodes, direct attachment mechanisms and/or node locks220 may be coupled directly to any device (such as a transponder orweight) or even a coupling case surrounding the device. Thus, thedescribed node attachment/detachment system may be used to attach anddetach a plurality of different devices, tools, and/or instruments in asimilar manner to a deployment cable as to a node.

Node Deployment and Retrieval System

As mentioned above, to perform a seismic survey that utilizes autonomousseismic nodes, those nodes must be deployed and retrieved from a vessel,typically a surface vessel. FIG. 3 illustrates a schematic of oneembodiment of a deck handling system 300 of a surface vessel. While thedeck handling system may be located on any portion of the vessel, in oneembodiment it is located on the back deck of a marine vessel. Ofrelevance to FIG. 3, the vessel 301 comprises a back, end, or aftsection 302 and two sides 303. For convenience purposes, the rest of themarine vessel is not shown in FIG. 3. As shown, in one embodiment a nodestorage and service system 310 is coupled to one or more deploymentsystems 320. Node storage and service system 310 is configured to handleand store the nodes before and after the deployment and retrievaloperations performed by node deployment system 320, and is described inmore detail in U.S. patent application Ser. No. 14/711,262, filed on May13, 2015, incorporated herein by reference. Node storage and servicesystem 310 is configured such that each operational task is locatedwithin a container. In one embodiment, each container has separatecontrol systems for local and/or remote operation of the tasks performedin the container. With this modular/container-based system, the additionand/or removal of service and storage containers based on the particularsurvey and/or vessel requirements is straightforward. In one embodiment,node storage and service system 310 consists of a plurality ofcontainers, including cleaning container 312, charging/downloadingcontainers 314, service/maintenance container 316, storage containers318, and auxiliary containers 319, which are interconnected by conveyoror transport system 350. In one embodiment, transport system 350comprises a conveyor section 351 that couples deployment system 320 tonode storage and service system 310 and conveyor section 352 that isconfigured to transfer auxiliary equipment (such as weights andtransponders) between the deployment system and the node storage andservice system. This invention is not dependent upon the particularstorage and service system utilized on board the vessel.

In a first or deployment mode, node deployment system 320 is configuredto receive nodes from node storage and service system 310, to couplethose nodes to a deployment line, and to deploy those nodes into a bodyof water. In a second or retrieval mode, node deployment system 320 isconfigured to retrieve nodes from a body of water, de-couple those nodesfrom a deployment line, and to transfer those nodes to node storage andservice system 310. Thus, node deployment system 320 may also becharacterized as a node retrieval system in some situations. In oneembodiment, the deployment line is stopped in the correct position andthe seismic node is manually attached to the deployment line, and inanother embodiment the seismic node is accelerated to match thedeployment speed of the deployment line and automatically attached tothe deployment line. At the same time, via an automatic, semi-automatic,or manual process, auxiliary equipment (such as weights or transponders)may also be attached to the deployment line at selected intervals. Inone embodiment, transponders, weights, and other seismic devices may bedirectly attached to the deployment cable by coupling one or more nodelocks to the device and/or to a housing surrounding the device. The nodedeployment system is also configured to deploy and retrieve a deploymentline or cable into and from a body of water. The deployment line and/orcable system may be continuously laid down on the seabed, but in someinstances it can be separated and buoyed off at select intervals to copewith obstacles in the water or as required by spread limitations for aparticular survey. Any one or more of these steps may be performed viaautomatic, semi-automatic, or manual methods. In one embodiment, eachnode is coupled to and/or integrated with a node lock, as described inmore detail in U.S. patent application Ser. No. 14/736,926, filed onJun. 11, 2015, incorporated herein by reference. The node locks (andattached nodes) may be coupled to and decoupled from the deployment linevia node deployment system 320.

As shown in FIG. 3, an autonomous seismic node deployment system mayinclude a plurality of containers, with separate containers containingone or more winches in container 326, one or more node installationdevices in container 324, and one or more overboard units in container322, and other devices and/or systems to facilitate deployment and/orretrieval of a plurality of autonomous seismic nodes from the waterbefore and after the nodes are used in a seismic survey. In oneembodiment, the node deployment system 320 is configured to attach anddetach a plurality of nodes 110 to a deployment cable or rope 108 andfor the deployment and retrieval of the cable into the water. In analternative embodiment, the marine vessel includes two such nodedeployment systems, with the second system being either a backup or usedsimultaneously as the first system. In one embodiment, the deploymentsystem receives nodes from the node storage and service system at thenode installation container 324. In one embodiment, the overboard unitcontainer 322 facilitates deployment and retrieval of the deploymentline with the coupled nodes, and may contain one or more overboardwheels at least partially if not entirely extending off of a backportion of the marine vessel, as described more fully in co-pending U.S.patent application Ser. No. 14/820,285, entitled Overboard System forDeployment and Retrieval of Autonomous Seismic Nodes, filed on Aug. 6,2015. Deployment system may operate in automatic, semi-automatic, ormanual processes. A partially or entirely automated system reducesman-power requirements for deployment and retrieval operations andincrease overall safety, efficiency, and reliability of the seismicsurvey. Additionally, such embodiments may allow for operation in harshclimates.

In some embodiments, the components of the node deployment system may beinstalled longitudinal in standard or custom-made twenty-foot cargocontainers. One embodiment of the node deployment system 320 usesstandard sized ISO shipping containers in a plurality of configurationsfor efficient deployment of the nodes. Standard sized containers aretypically 20 or 40 feet long and 8 feet wide. The heights of suchcontainers may vary from 8 feet for standard height containers to 10feet, 6 inches for high-cube or purpose made containers. In otherembodiments, containers may be custom designed and ISO certified. Eachcontainer preferably has a floor, roof, and sidewalls, with variousportions removed to facilitate transfer of nodes to, from, and withineach container as needed, or to allow service personnel access to thecontainer. These containers may include additional frame supports to thefloor and/or sides. The content of each container is modified for theparticular task of the container, such as line deployment andtensioning, node attaching, and node/line deployment, etc. Thecontainers can be transported via air, road, train, or sea to adestination harbor and mobilized on a suitable vessel. The containersmay be transferred to the deck of a vessel via a crane or other liftingdevice and then secured to the deck and coupled to each other throughvarious fastening mechanisms. The containers may be positioned side toside, end to end, and even on top of each other (up to 3 or 4 levelshigh) on the deck depending on the specific layout of the containers,need of the survey, and requirements of the vessel. The system setup mayvary from job to job and from vessel to vessel, in both layout andnumber of modules/containers utilized.

FIGS. 4A and 4B show various views of a deployment system from a sideand top perspective, respectively. Similar to FIG. 3, node deploymentsystem comprises a first container 410 configured to hold a winch system412, a second container 420 configured to hold a noderoping/coupling/attaching system (and, likewise, aderoping/decoupling/detaching system) 422, and a third container 430configured to hold an overboard unit 432. In one embodiment, the firstand second containers are standard 20 foot long containers and the thirdcontainer is a 40 foot long container. In some embodiments one or moretension control systems 438 and a cleaning system 436 may be utilizedthat may be located in one of the aforementioned containers, such asoverboard unit container 430. Winch system 412 may be coupled to a cablespooling guide 414 that is configured to deploy and retrieve cable froma spool of the winch system and route the cable to node installationcontainer 420. Node attachment system 422 may be coupled to a node feedsystem 424, a node remover 425, and one or more sheaves 426, 428, all ofwhich may be contained within container 420. In other embodimentscontainers are not utilized and the components of the node deploymentsystem may be coupled directly to the back deck of a marine vessel. Inone embodiment, as shown in FIG. 4C, a second deck or level ofcontainers is utilized for additional components of the node deploymentsystem and/or as back-up components. For example, in one embodiment,node deployment system may comprise an additional winch system 412 blocated in second winch container 410 b which sits upon first winchcontainer 410, and an auxiliary equipment container 440 which sits uponnode installation container 420. In some embodiments, portions of thedeployment system may extend out over portions of the deck of the marinevessel. For example, a portion of overboard unit container 430 mayextend beyond the back deck of a marine vessel. For example, overboardunit 432 may be retractable into and out of overboard unit container430.

In one embodiment, the node deployment system may comprise one or morecontrol systems, which may comprise or be coupled to a control systemlocated in each container. In one embodiment an operator may be locatedinside one or more of the containers, or even in a remote location suchas off of the vessel, and operate the entire node deployment system. Inother embodiments, the control system can be operated from asurveillance cabin or by remote control on the deck or by bothlocations. In one embodiment, the control system may be designed forvariable control tension on the deployment line and may interfacevarious components and systems of the node deployment system (such asthe winch, node installation machine, overboard unit, and outboard nodedetection unit) together for smooth operation during retrieval anddeployment. Besides having slow start up and slow down sequences, thesystem may have quick stop options for emergency situations, which canbe activated automatically or manually. In one embodiment, the controlsystem can make various measurements at different portions of thedeployment systems, including tension on the cable, angle of the cable,and speed of the cable, and the like. In some embodiments, the controlsystem continuously obtains and utilizes information about vessel roll,yaw, and pitch (speed and amplitude) and other factors (cable speed,tension, and deployed length) to ensure adequate movement andpositioning of the overboard system and overboard wheel.

In still other embodiments, the deployment system and/or installationcontainer may include one or more node detection devices used toautomatically identify and track nodes during attachment/detachment anddeployment/retrieval operations. In one embodiment, such a systemincludes a radio-frequency identification (RFID) system that shows andidentifies a node passing by particular points in the deployment systemby radio frequency, as well as other wireless non-contact devices andmethods (such as optical detection sensors) that can identify tags andother identification devices coupled to nodes.

Node Installation System

Referring to FIG. 3, in one embodiment the node installation container324 acts as the intermediate container position in the deployment systembetween the winch system container 326 and the overboard unit container322 as well as the transfer point of all nodes between storage andservice system 310 and deployment system 320. A node installation systemmay be located within container 324 and is configured to attach anddetach a plurality of nodes to and from a deployment cable. In oneembodiment, node installation system may lock/unlock and/or close/openone or more direct attachment mechanisms and/or node locks to thedeployment line, which couples the node to the deployment line.

In a first or deployment mode, the node installation system isconfigured to automatically receive a plurality of nodes from a nodestorage and service system and to couple those nodes to a deploymentline. In a second or retrieval mode, the node installation system isconfigured to automatically decouple a plurality of nodes from adeployment line and to transfer those nodes to the node storage andservice system. Thus, node installation system may also be characterizedas a node decoupling or detaching system. The node installation systemcan be configured to operate in a manual, semi-automatic, or automaticfashion. In the semi-automatic mode, an operator assists the nodeinstallation process, where the cable is stopped in the correct positionbefore the node is manually attached to or detached from the cable. Inthe automatic or semi-automatic mode (which may only need operatorsupervision), during attachment the node may be accelerated to match thedeployment speed of the deployment cable and automatically attached tothe deployment line, and in a detachment mode a carrier or detachingdevice is accelerated to match the retrieval speed of the cable andautomatically detaches the node from the cable. Other embodiments mayallow the cable to be slowed or temporarily paused prior to attaching ordetaching the nodes. These operations may be performed pneumatically,electrically, or hydraulically.

FIGS. 5A-5C illustrate in more detail an embodiment of a nodeinstallation system 500. FIGS. 5A and 5B show a perspective and sideview diagram, respectively, of a node installation system 510 within anode installation container 501. Node installation system 500 maycomprise a node attachment device 510 (which also may be referred to asa node detachment device) that is coupled to lateral movement system520. A plurality of sheaves 542 and 544 may be configured to route thedeployment cable between the winch container system and the nodeinstallation container. Between the sheaves may be located a lightcurtain or other detection system (not shown) configured to provide anearly indication of where the node placement position may be and to givenotification to the node attachment device 510 to move into a readyposition. In some embodiments, the node installation system 500 maycomprise and/or be coupled to a control system and/or operator panel. Anode removal station 530 may be located towards the front (bow) portionof the deployment system in container 501 between the node installationmachine and the main winch container. Remover 530 acts as a safetydevice and is configured to forcibly remove a node from the deploymentline if the node and/or node lock does not properly detach from thecable in the node detachment device 510 during retrieval of the cableafter a seismic survey has been performed. Node removal station 530comprises a node detachment plate 532 and a collector tray or bin 534that receives the nodes once they drop from being decoupled and/orremoved at the node detachment plate 532. In one embodiment nodedetachment plate 532 comprises an angled plate with an opening or slotapproximate to sheave 542 and by leading the cable in one directionthrough the slot and the node in another direction (by contact with theplate) node remover 530 may pull the node off the cable by force.

FIG. 5C is a top view diagram illustrating one embodiment of nodeinstallation system 500 in container 501. As shown in FIG. 5C, nodeinstallation system 500 is coupled to feed system 570, which isconfigured to transfer nodes between node storage and service system 310and a node platform on the node installation machine 510. One or moreconveyors (such as a conveyor belt system coupled to a plurality ofrollers) 582, 584 may couple feed system 570 to node storage and servicesystem 310. In one embodiment, conveyor 582 is configured to transfernodes from the node storage and service system and conveyor 584 isconfigured to transfer transponders and/or other equipment from the nodestorage and service system. A plurality of nodes may be positioned onnode feeder 570 prior to transfer to node installation machine 510. Inone embodiment, node 110 c is positioned on a first section of feedersystem 570, node 110 b is positioned on a second section of feedersystem 570, and a third position 572 of the node feeder system is open,as the node feeder system had previously transferred node 110 a to thenode installation machine. In other embodiments, a transponder may bepositioned on a first section of the node feeder system and a node maybe positioned on a second section of the node feeder system. Oneembodiment of node feeder system 570 is illustrated FIGS. 10A-10C, whichillustrate perspective, top, and side view diagrams, respectively, of anode feeder system 1000. As shown, a plurality of nodes 1011, 1012, and1013 may be positioned on a top portion of feeder unit or frame 1001.One or more conveyors may be positioned on feeder frame 1001 to convey aplurality of nodes to and from the feeder system and within differentpositions of the feeder system. Such conveyors may be a single unitrotation device (comprising a rotation unit, a conveyor belt, and aplurality of rollers) that is configured to move the nodes 90 degrees tochange a position and/or direction of the nodes, as described more fullyin U.S. patent application Ser. No. 14/711,262, filed on May 13, 2015,incorporated herein by reference. For example, node 1011 is shownposition in one direction and node 1012 is shown in a rotated positionof approximately 90 degrees. Such conveyors may align the node in thecorrect orientation for attaching the node locks on the node to thecable. In one embodiment, conveyors 1021 and 1022 may each be positionedon a section of the feeder system to transfer nodes between conveyors582 and 584 and the node feeder system. Conveyors 1021 and 1022 may alsobe configured to move nodes 1011 and 1012 onto a conveyor system 1023,which itself may be comprise and/or be coupled to node extension unit1030. Node feeder system 570 may also comprise a node extension unit1030 that is configured to transfer nodes to and from a node platform onthe node installation machine 510. In one embodiment, node feeder system570 is configured to move laterally and vertically in a variety ofpositions. In one embodiment, a node platform of the node installationdevice comprises a plurality of rails with a distance between the railssuch that the node feeder system (with a width less than the distancebetween the rails) can transfer the nodes to and from the node platformby using a combination of vertical and lateral movements.

As shown in FIGS. 5A and 5B, lateral movement system 520 may compriseone or more frames or I-beams 522 coupled to the top and/or bottom ofcontainer 501 by a plurality of vertical supports (not shown). One ormore sliding guides, tracks, rails, or cylinders 524 may be coupled toframe 522 and be configured to move node attachment device 510 backwardsand forwards in a lateral motion within container 501. In one embodimentcylinders 524 may be a plurality of pneumatic rodless cylinders. Thecylinders may comprise a plug or moving agent within the cylinders thatis coupled to node installation machine 510 that moves back and forthwithin cylinders 524 based upon applied pneumatic pressure, therebymoving installation machine 510 laterally within container 501 and withthe path of cable 108. One or more accumulators may be coupled tocylinders 524 to supply the required pressure to move node installationmachine 510 along lateral movement system 520. Cylinders 524 may includelateral stops that prevent installation machine 510 from moving past acertain point in either direction. The node installation system isconfigured for (and the cylinder length is long enough)attachment/detachment of the node to the cable anywhere over the lengthof cylinders 524. This facilitates quick and easy attachment/as thecable and machine do not have to stop at one precise spot.

In one embodiment, node installation device 510 is configured to lock tothe cable prior to, during, and/or after attachment/detachment of thenode. In a fully automated system, rodless cylinders 524 may acceleratenode installation device 510 before it couples to and/or locks onto thecable, thereby causing the carriage and the cable to have a synchronizedspeed. The cylinders are configured to accelerate the carriage (with thenode onboard) to approximate the speed of the cable being deployed orretrieved. In one embodiment the speed of a cable may be approximatelythree knots (approximately 1.5 m/s) and the length of cylinders 524approximately 5 meters, which may provide approximately 3 seconds oftime for node attachment/detachment. The time it takes to attach ordetach a node may range from approximately one to three seconds. Inother instances, the deployment/retrieval speed of the cable may need tobe stopped or slowed prior to attachment of node installation machine510 to the cable. The node installation system 500 may includeautomatic, semi-automatic, or manual checks or indicators that verifywhether the attachment/detachment was successful. In one embodiment,these checks may use output signals (visual or auditory) to notify theoperator of an unsuccessful coupling/decoupling, and in otherembodiments, the attaching or detaching process may automatically stopif an attachment or detachment was not successful.

The nodes can be attached to the cable at predetermined or variablelocations. The cable may include markers, terminations, and/or ferrulesat specific intervals and locations that may assist placement andattachment of the nodes on the cable. In a further embodiment, areference marker on specified intervals of the deployment line, such ascolored/painted markers, magnetic paint, or any low profile markingsystem such as heat shrink, may be used to align the deployment linewith the appropriate portions of the coupling to facilitate attachmentof the node to the cable. In one embodiment, the nodes may be attachedapproximately every 25 meters along the cable between a pair of ferrulespreviously attached to the cable. The distance between the two ferrulesmay be 5-15 centimeters longer than the actual node length, whichprovides the node freedom to move longitudinally along the cable betweenthe ferrules. In one embodiment, the ferrules are attached to the cableby a process known as swaging. Node-locks and/or attachment mechanismsmay encircle the cable but may not tightly clamp to or grip the cable toallow the node freedom to swivel around the cable and to movelongitudinally along the cable between the position stoppers and/orferrules.

In one embodiment, node installation system 500 comprises a cabledetection and/or sensing mechanism and a positioning mechanism, whichmay or may not be the same device. In one embodiment, such mechanismsare located on node installation machine 510. Node installation system500 is configured to accelerate to and move with the speed of the cablefor attachment/detachment of a node, and the system is configured todetect a position on the cable for such movement. In one embodiment,node installation system 500 detects the position of a node (whether forattachment or detachment) by detecting one or more ferrules or stopperscoupled to the cable. In some embodiments, node installation system 500is configured to couple to and/or grab the cable duringattachment/detachment. In some embodiments, node installation machine510 is configured to attach a node to each of the pairs of spaced apartferrules, and in other embodiments node installation machine 510 may beprogrammed to skip various positions if longer distances between a nodeis intended. For example, rather than coupling a pair of ferrules alongthe cable at approximately every 25 meters, a pair of ferrules may beplaced every 12.5 meters and/or 6.25 meters, with a distance betweeneach pair of ferrules being a potential node attachment point and/orposition. Based upon the particular survey, an autonomous seismic nodemay be attached to the cable at every 6.25 meters, 12.5 meters, 25meters, or various combinations/manipulations of the above. In oneembodiment, transponders or other devices may be coupled to the cable ina similar fashion at variable distances between the autonomous nodes.With a control system and various operating parameters combined with thedisclosed node installation machine, any number of survey requirementscan be easily and automatically programmed for the node installationsystem.

Compared to conventional node attachment techniques, the directattachment apparatuses and methods described herein provide numerousbenefits. The disclosed embodiment provides for high-speed, autonomous,and variable attachment and detachment to the deployment line withlimited operator involvement. Among other benefits, the discloses systemprovides the ability to change quickly the distance/spacing between thenodes on the deployment line without having to rebuild all or parts ofthe deployment line. Because the system is utilized within a containerand may be performed automatically and semi-automatically, thedeployment and retrieval of a cable can be done with limited operatorinvolvement and in harsh sea conditions in which deployment/retrievaloperations were previously not possible. Such a deployment and/orattachment system increases the overall safety, efficiency, andreliability of the seismic survey.

Node Installation Device

One embodiment of node installation device 510 is shown in more detailin FIGS. 6A-6C, which illustrate a perspective, side, and front viewdiagram respectively of a node installation device 600. Theconfiguration of node installation machine 600 varies based upon thespecific configurations of the node locks and/or direct attachmentmechanisms present on the node. In one embodiment it may be considered anode carrier or other conveyance structure. Node installation machine600 may comprise a node platform or cradle 610, an upper plate 640, oneor more positioning devices 620, one or more contact points 644configured to actuate the node locks, and one or more cylinders 652configured to push the deployment line into the node locks. Frame 601couples the various components of the node installation machine togetherand may be coupled to lateral movement system 520 (see FIGS. 5A-5C). InFIG. 6B, node 110 comprises a plurality of node locks 220 a, 220 b andis resting on platform 610.

Node platform 610 is sized and configured to hold a node prior to,during, and/or after attachment to the cable. In some embodiments,platform 610 is configured to transfer nodes to and from node feedersystem 570 (shown in FIGS. 5C and 10A-10C). Node platform rests onand/or is coupled to an elevator mechanism 612 and in one embodimentcomprises a plurality of vertically movable cylinders 612 a, 612 b,which may be hydraulic or pneumatic. The elevator mechanism 612 isconfigured to move node 110 to the appropriate vertical height and/orposition for attaching/detaching and/or coupling/decoupling the one ormore node locks and/or node to the cable.

Upper plate 640 is coupled to elevator mechanism 642, which may comprisea plurality of vertically movable cylinders 642 a, 642 b, which may behydraulic or pneumatic. Elevator mechanism 642 may be configured to moveupper plate 640 into close proximity to the node and/or node locks. Inone embodiment a lower section of upper plate 640 is coupled to one ormore contact points 644 a, 644 b such that contact points 644 a, 644 bmay engage node locks 220 a, 220 b when upper plate 640 is lowered.Thus, contact points 644 a, 644 b act as actuating devices for the nodelocks and when lowered enough may depress a latch on the node lock tomove it from a closed position to an open position. Contact points 644a, 644 b may be tapered, grooved, or flat, as well as any otherconfiguration depending on the particular shape of the node lock.Similarly, in other embodiments an attachment/detachment tool such as aroller (such as roller 234 in FIG. 2D) or one or more cylinders (such asrod/cylinder 244 in FIG. 2E) may be used to contact one or more nodelocks and move them between an open/closed and/or locked/unlockedposition. These other actuating devices may or may not be coupled toupper plate 640. In some embodiments, upper plate 640 may be lowered toforce the cable into engagement with the node locks. In otherembodiments, upper plate 640 is coupled to one or more cylinders 652 a,652 b which are configured to push the cable into engagement with thenode locks. In this embodiment, upper plate 640 is lowered enough todepress the node locks with one or more contact points 644 a, 644 b.Once the node locks are opened, one or more cylinders 652 a, 652 b arefurther lowered to push the cable into the node locks. While cylinders652 a, 652 b keep the cable in a lowered position, upper plate 640raises along with contact points 644 a, 644 b, thereby moving the nodelocks from an open position to a closed position around the cable.Cylinders 652 a, 652 b can subsequently be raised.

In one embodiment, positioning device 620 is configured to detect a nodeplacement position, which in one embodiment is the space on the cablebetween a plurality of spaced apart ferrules. In some embodiments, onlya single marker, detection point, and/or ferrule may indicate a nodeplacement position on the cable. In other embodiments, positioningdevice 620 may also be configured to couple to and/or grab a length ofthe cable, for example by grabbing or locking onto one or more ferrulescoupled to the cable. Positioning device 620 may be used in deploymentoperations to indicate to the node attachment/detachment machine where anode should be coupled to the cable as well as in retrieval operationsto indicate to the node attachment/detachment machine where a nodeshould be removed from the cable. In one embodiment, positioning device620 comprises a plurality of forks with a plurality of coupled arms thatact as a ferrule and/or marker detector and a cable engager. Eachpositioning device 620 a, 620 b may be coupled to a hydraulic plunger orcylinder 622 a, 622 b for movement from a first or raised/disengagedposition to a second or lowered/engaged position with respect to thecable. The positioning devices may be moved vertically from a firstposition to a second position or may be rotated or hinged in a radialsweep approximately 45 to 90 degrees longitudinally from its loweredposition.

Various embodiments of a mechanical positioning device 620 areillustrated in FIGS. 7A-7D in various operating positions. FIGS. 7A-7Billustrate positioning device 620 a comprising a fork with a pluralityof coupled arms 722 a, 722 b, similar to the embodiment described inFIGS. 6A-6C. Each arm 722 a, 722 b comprises an upper section that issubstantially straight and a lower section that is outwardly curved soas to create an opening between the arms to receive the deployment lineand/or ferrule coupled to the deployment line. The arms may be attachedtogether at upper portion 721. The fork may be lowered and/or raised ina vertical direction (and in other embodiments raised via a hinge) tomake contact, engage, and/or grab the cable and/or ferrule. FIG. 7Ashows the fork in an upper or disengaged position, and FIG. 7B shows thefork in a lower or engaged position. FIGS. 7C-7D illustrate positioningdevice 620 b comprising a plurality of vertical arms or rods 725 a, 725b that may be spaced apart. Arms 725 a, 725 b may be moved horizontallyto make contact, engage, and/or grab the cable and/or ferrule. FIG. 7Cshows the arms in a separated, retracted, or disengaged position, andFIG. 7D shows the arms in a coupled or engaged position to the cable.

In one embodiment, node detection device 620 is coupled to the cableand/or ferrule by friction. In other embodiments a portion of thepositioning device (such as a lower section of the arm) is positionedadjacent to or approximate with the cable (see, e.g., FIGS. 7B, 7D) suchthat as the cable passes through the detection device 620, a coupledferrule contacts, hits, and/or engages the arm. The node installationmachine 600 is configured to detect this contact and upon contact ofpositioning device 620 with the cable, node installation machine 600 isconfigured to accelerate to and/or maintain the speed of the cable(whether the cable is being deployed or retrieved). Other embodiments ofpositioning device 620 are possible and depend upon the type of markerused on the cable. For example, the intended node position and/orplacement can be detected by optics, magnetic sensor, and other cablepositioning measurements that do not require mechanical motion by thedetection device 620.

In some embodiments, a control system may be programmed to stop andalert the operator that a node has not gripped firmly around the cable.The operator may then acknowledge the warning and continue with thedeployment process and/or stop the deployment and manually remove thenode and couple a new node in its place. Various embodiments exist thatmay be used to detect node attachment issues, including light-curtains.In one embodiment, light curtains are opto-electronic devices that use aplurality of lasers to detect small movements within the sensitivityrange of the light curtain by projecting an array of parallel infraredlight beams from one or more transmitters to one or more receivers. Whenan object breaks one or more of the beams a signal is sent to thedevice. In one embodiment light curtains act as safety devices, and acontrol system may be configured to stop a particular device and/ordeployment system when the light curtain is triggered. By reducing theneed for physical guards and barriers, light curtains can increase themaintainability of the equipment they are guarding. The operability andefficiency of machinery can also be improved by the use of lightcurtains by, for example, allowing easier access for semi-automaticprocedures.

FIGS. 8A-8G show various side view schematics of a node installationdevice attaching a node to a deployment line. FIGS. 8H-8N show variousside view schematics of a node installation device detaching a node froma deployment line. While the components shown in FIGS. 8B-8G and 8I-8Nare the same as those shown in FIGS. 8A and 8H, such figures are notprovided with reference numbers for simplicity purposes.

FIGS. 8A and 8H are side view diagrams illustrating one embodiment of anode installation device 800, which may be substantially similar to nodeinstallation devices 510 and 600. As shown in FIGS. 8A and 8H, nodeinstallation device 800 comprises a carrier frame 801 coupled to aplurality of detection devices or forks 820 a, 820 b that may be raisedor lowered to contact deployment cable 108 and/or pre-coupled ferrules.FIG. 8A shows node 110 resting on platform 810 that is verticallymovable by elevator mechanism or cylinder 812. FIG. 8B shows node 110coupled to deployment line 108 prior to entry into installation device800. Upper plate 840 is vertically moveable by an elevator mechanism orone or more cylinders (not shown), such as cylinders 642 a, 642 b inFIGS. 6A-6C. A plurality of actuators or contact points 844 a, 844 b arecoupled to a lower portion of upper plate 840, and thereby may bevertically moveable and lowered into a contact and/or actuating positionwith a plurality of node locks on seismic node 110 by movement of upperplate 840. In other embodiments, contact points 844 a, 844 b may beraised and lowered by separate cylinders and thus moved separately fromupper plate 840. Push cylinder 842 may be coupled to upper plate 840 andis configured to push deployment line 108 into contact with the nodelocks after the contact points 844 a, 844 b have moved the node locksinto an open position. In other embodiments, a plurality of cylinders(such as 652 a, 652 b in FIGS. 6A-6C) may be used to push the wire intothe node locks. In one embodiment, a first fork 820 a is placed on afirst end of the machine and a second fork 820 b is placed on a secondand opposing end of the machine. FIGS. 8B-8G are side view diagramsillustrating one embodiment of a node installation device 800 inmultiple operating positions in a deployment operation. FIGS. 8I-8N areside view diagrams illustrating one embodiment of a node installationdevice 800 in multiple operating positions in a retrieval operation.

In a deployment operation, seismic node 110 is delivered and/or conveyedto node platform 810, as indicated in FIG. 8A. The cable in a deploymentmode moves in a direction from the bow to the stern of the vessel, asindicated by the arrow above FIGS. 8B-G. As shown in FIG. 8B, secondfork 820 b is lowered to detect the next ferrule (or other markers) onthe cable as the cable moves through node installation device 800 fromthe left to right direction (e.g., towards the stern). When a ferrule onthe cable contacts second fork 820 b, the force of the deployed cablemay act on the node installation machine to help accelerate the nodeinstallation machine in conjunction with the lateral movement system 520to a speed approximate to the deployment speed of the cable. When aferrule is detected, first fork 820 a may be lowered such that bothforks may engage the cable to couple and/or fix carriage frame 801 tothe cable, as shown in FIG. 8C. At or near the same time, node platform810 elevates the node to a position proximate to the cable and upperplate 840 is lowered to a position proximate to the cable, as shown inFIG. 8D. In some embodiments, rather than using an attachment/detachmenttool, the upwards vertical movement of the node may automatically engagethe node locks to the cable and/or the cable may be physically forcedinto the attachment mechanism (such as by pushing) for locking thedeployment cable to the node lock. In one embodiment, upper plate 840may be lowered such that contact points 844 a, 844 b contact, engage,and/or actuate the node locks on the node, thereby moving them into anopen position, as shown in 8D. Once the node locks are in an openposition, one or more cylinders or cable pushers 842 may be lowered topush the cable into the node locks, as shown in FIG. 8E. While cablepusher 842 keeps the cable coupled to the node locks, upper plate 840and/or contact points 844 a, 844 b are raised to move the node locksfrom an open position to a closed position, as shown in FIG. 8F. At thesame time (or subsequent to the raising of cable pusher 842) nodeplatform 810 may be lowered away from the node. Once the node locks arein a closed position about the deployment line, cable pusher 842 may beraised along with upper plate 840, as shown in FIG. 8G. At or near thesame time, the plurality of forks or detection devices 820 a, 820 brelease the cable so that the cable and coupled node may pass throughthe node installation machine. The node installation may then return toan initial or starting position to receive the next node. A second nodeis delivered to node platform 810 and the above steps are repeated untilthe desired number of nodes are attached to the cable.

The retrieval operation (once the seismic survey has been completed andthe nodes are to be retrieved) acts in a similar fashion as thedeployment operation, only in a reverse/opposite procedure. In aretrieval operation, seismic node 110 is delivered and/or conveyedtowards node installation machine 800, as indicated in FIG. 8H. Thecable in a retrieval mode moves in a direction from the stern to the bowof the vessel, as indicated by the arrow above FIGS. 8I-N (from theright to left direction). In one embodiment, a node is routed throughinstallation machine 800 prior to detector device 820 a lowering into adetect position, as shown in FIG. 8I. In other embodiments, as shown inFIG. 8J, first fork 820 a is lowered to detect the next ferrule (orother markers) on the cable prior to the node passing through nodeinstallation device 800. When a ferrule on the cable contacts first fork820 a, the force of the retrieved cable may act on the node installationmachine to help accelerate the node installation machine in conjunctionwith the lateral movement system 520 to a speed approximate to theretrieval speed of the cable. Once the coupled node is within nodeinstallation machine 510, second fork 820 b may be lowered such thatboth forks may engage the cable to couple and/or fix the carriage frame801 to the cable, as shown in FIG. 8K. At or near the same time, nodeplatform 810 is elevated to a position proximate to the node and upperplate 840 is lowered to a position proximate to the cable. In oneembodiment, upper plate 840 may be lowered such that contact points 844a, 844 b contact, engage, and/or actuate the node locks on the node,thereby moving them into an open position, as shown in 8L. Node platformmay be further positioned into a close proximity to the node. In oneembodiment, opening of the node locks releases, detaches, and/ordecouples the node from the cable, at which point the node may drop downto node platform 810, as shown in FIG. 8M. In other embodiments, nodeplatform 810 may be further raised to contact and/or receive the nodeprior to it being dropped to facilitate decoupling of the node from thecable. At or near the same time, node platform 810 may be lowered awayfrom the node. Once the node is decoupled from the cable, node platform810 and upper plate 840 may be moved further away from the cable and theplurality of forks or detection devices 820 a, 820 b may release thecable so that the cable may pass through the node installation machine,as shown in FIG. 8N. The node installation machine may then return to aninitial or starting position for receiving the next node. The abovesteps are repeated until the desired number of nodes are decoupled fromthe cable.

FIGS. 9A-9C are side view diagrams illustrating one embodiment of a nodeinstallation device 510 in multiple deployment positions throughout anode installation container 501. For simplification, deployment cable108 is not shown and portions of node installation device 510 are notshown. Node installation device 510 moves in a horizontal orlongitudinal direction with the path of the deployment cable based onlateral movement system 520. FIG. 9A shows node installation device 510in a first position A, which is near the middle of the travel path alonglateral movement system 520. FIG. 9B shows node installation device 510in a second position B, which is near the forward (bow) section of thenode installation container 501 and/or travel path along lateralmovement system 520. FIG. 9C shows node installation device 510 in athird position C, which is near the rear (stern) section of the nodeinstallation container 501 and/or travel path along lateral movementsystem 520. Each position within the cable path (such as positions A, B,or C, or still others) may be the position in which the nodeinstallation device 510 transfers nodes to and from the node storage andservice system via feeder system 570. Further, each position within thecable path (such as positions A, B, or C, or still others) may be theposition in which the node installation device 510 attaches a node 110to the cable and/or detaches a node 110 from the cable. In oneembodiment for a deployment operation, after receiving a nodeinstallation device 510 moves laterally to position B (see, e.g., FIG.9B), which provides the node installation device the most time to couplea node to the cable as the cable moves from the front to the back of thenode installation container. Once node installation machine 510 detectsthe node placement position on the cable (such as by one or moreferrules), it laterally moves with the cable until the node is coupledto the cable, which may be a position C (see, e.g., FIG. 9C). The nodeinstallation machine then is configured to return to an initial position(such as position A) to receive the next node. In a retrieval operation,the node installation machine generally operates in an opposite orreverse manner as to the deployment operation. In one embodiment, nodeinstallation machine 510 starts at position C without a node, whichprovides the node installation device the most time to decouple a nodefrom the cable as the cable moves from the back to the front of the nodeinstallation container. Once the node installation machine 510 detectsthe node placement position on the cable (such as by one or moreferrules), it laterally moves with the cable until the node isde-coupled to the cable, which may be a position B. The nodeinstallation machine then is configured to return to a node transferposition (such as position A) to transfer the removed node to feedersystem 570. The node installation machine then is configured to returnto an initial position (such as position C) to decouple the next nodefrom the cable.

FIG. 11 illustrates one embodiment of a method 1100 for attaching anautonomous seismic node to a deployment line. In an embodiment, themethod starts at block 1102 by deploying a length of a deployment line108 from a marine vessel. At block 1104, the method includes positioningan autonomous seismic node adjacent to the deployment line. In oneembodiment the positioning step comprises moving the node to a nodeinstallation machine that surrounds the cable and/or moving the nodeinstallation machine (while holding a node) to an initial position alongthe cable path. At block 1106, the method includes detecting a nodeplacement position on the deployment line. In one embodiment, the nodeplacement position is the space between a plurality of spaced apartferrules that are pre-coupled to the cable. In one embodiment, the nodeplacement position is determined by a light curtain and/or othermechanism or system configured to detect a ferrule or other marker onthe cable. In addition to and/or in other embodiments, one or more forksor arms of a node installation machine are positioned next to the cableand detect when a ferrule passes through the node installation machine.At block 1108, the method includes accelerating the node to a speedapproximate to the speed of the deployment line. In one embodiment, thisstep comprises accelerating a node installation machine to the speed ofthe cable. In other embodiments, the deployment line is slowed and/orstopped prior to node attachment. At block 1110, the method includespositioning the node proximate to the node placement position and/or aparticular length or attachment point of the deployment cable, which maybe based upon the detecting step in block 1106. In one embodiment, thepositioning step comprises moving the node vertically and/orhorizontally within a node installation machine such that one or morenode locks on the node are proximate to the cable. At block 1112, themethod includes attaching one or more node locks or direct attachmentmechanisms coupled to the node to the deployment line. In someembodiments, the direct attachment mechanism needs to be opened orunlocked prior to receiving the deployment line, and in otherembodiments, the direct attachment mechanism is already unlocked and/oris biased in an open position. In some embodiments, an attachment toolis used to actuate the locking mechanism from a closed to open position.In other embodiments, the deployment line is pushed into engagement withthe node locks to move them from a closed to open position. In stillother embodiments, the deployment line is pushed into the node locks andthen the node locks are moved into a closed position. This process isrepeated until the desired number of seismic nodes is attached to thedeployment line. In one embodiment, each of these steps is performedautomatically, while in other embodiments the positioning and attachingsteps may be performed by manual or semi-automatic methods The rate ofdeployment can be varied and/or stopped as needed and is controlled by amaster control system that is integrated with the primary components ofthe node deployment system and node installation system.

FIG. 12 illustrates one embodiment of a method 1200 for detaching anautonomous seismic node 110 from a deployment line 108. In anembodiment, the method starts at block 1202 with retrieving a length ofdeployment line 108, the deployment line 108 having at least oneattached seismic node 110. The attached seismic node may be attacheddirectly to the deployment line with at least one direct attachmentmechanism. In one embodiment, the deployment line is retrieved at theback deck of a marine vessel. At block 1204, the method includespositioning a node detachment machine proximate to the deployment line(which may also be used as a node attachment machine). At block 1206,the method includes detecting a node on the deployment line. In oneembodiment, such node detection is performed by the node detachmentmachine, such as by one or more forks that are configured to detect aferrule coupled to the cable (thereby indicating the position of thenode). At block 1208, the method includes accelerating the nodedetachment machine to a speed that is approximately that of thedeployment cable. In other embodiments, the deployment line is slowedand/or stopped prior to node detachment. At block 1210, the methodincludes detaching a node from the deployment line by using a nodedetachment machine. In one embodiment, the detaching machine may or maynot be the same machine used to couple the nodes to the deployment line.For example, the vessel may contain separate coupling and decouplingmachines. In some embodiments, automatically detaching the seismic nodemay include actuating a portion of the direct attachment mechanismand/or locking mechanism by a detachment tool for releasing thedeployment line from the node locks. The detachment tool may beintegrated with the decoupling system or be a separate component thatcan be used manually or semi-automatically. In some embodiments, thedetachment tool also operates as the attachment tool. In otherembodiments, the deployment line is pulled by force from the node locksto disengage the deployment line from the node, such as by node remover530. As shown in block 1212, once the node has been removed and/ordecoupled from the deployment line, the detached node is positioned awayfrom the deployment line and transferred out of the retrieval line pathso that the detachment machine is then in a ready position to acceptanother node to decouple from the deployment line. This process isrepeated until the desired number of seismic nodes is detached from thedeployment line. In one embodiment, each of these steps is performedautomatically, while in other embodiments the detecting, positioning,and/or detaching steps may be performed by manual or semi-automaticmethods The rate of retrieval can be varied and/or stopped as needed andis controlled by a master control system that is integrated with theprimary components of the node deployment system and node installationsystem.

Although the invention(s) is/are described herein with reference tospecific embodiments, various modifications and changes can be madewithout departing from the scope of the present invention(s), as setforth in the claims below. Accordingly, the specification and figuresare to be regarded in an illustrative rather than a restrictive sense,and all such modifications are intended to be included within the scopeof the present invention(s). Any benefits, advantages, or solutions toproblems that are described herein with regard to specific embodimentsare not intended to be construed as a critical, required, or essentialfeature or element of any or all the claims.

Unless stated otherwise, terms such as “first” and “second” are used toarbitrarily distinguish between the elements such terms describe. Thus,these terms are not necessarily intended to indicate temporal or otherprioritization of such elements. The terms “coupled” or “operablycoupled” are defined as connected, although not necessarily directly,and not necessarily mechanically. The terms “a” and “an” are defined asone or more unless stated otherwise. The terms “comprise” (and any formof comprise, such as “comprises” and “comprising”), “have” (and any formof have, such as “has” and “having”), “include” (and any form ofinclude, such as “includes” and “including”) and “contain” (and any formof contain, such as “contains” and “containing”) are open-ended linkingverbs. As a result, a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more elements possesses those oneor more elements but is not limited to possessing only those one or moreelements. Similarly, a method or process that “comprises,” “has,”“includes” or “contains” one or more operations possesses those one ormore operations but is not limited to possessing only those one or moreoperations.

What is claimed is:
 1. A method of attaching a plurality of seismicnodes to a deployment line, comprising: positioning a plurality ofseismic nodes next to a deployment line being deployed from a marinevessel; and attaching the plurality of seismic nodes to the deploymentline by coupling a portion of the deployment line to at least one directattachment mechanism on each of the plurality of seismic nodes.
 2. Themethod of claim 1, wherein the attaching step comprises automaticallycoupling the at least one direct attachment mechanism to the deploymentline by using a node attachment machine.
 3. The method of claim 1,wherein the attaching step comprises automatically detecting a nodeplacement position on the deployment line.
 4. The method of claim 1,wherein the attaching step comprises moving the at least one directattachment mechanism from a closed position to an open position.
 5. Themethod of claim 1, wherein the attaching step comprises unlocking the atleast one direct attachment mechanism by contact with the deploymentline.
 6. The method of claim 1, wherein the attaching step compriseslocking the at least one direct attachment mechanism onto the deploymentline.
 7. The method of claim 1, wherein the attaching step comprisesinserting the deployment line into the at least one direct attachmentmechanism.
 8. A method for deploying a plurality of seismic nodes into abody of water, the method comprising: deploying a deployment line into abody of water from a marine vessel; and attaching a plurality of seismicnodes to the deployment line during deployment, wherein each of theplurality of seismic nodes is attached to the deployment line byinserting the deployment line into at least one locking device locatedon each of the plurality of seismic nodes.
 9. The method of claim 8,further comprising actuating the at least one locking device to an openposition.
 10. The method of claim 9, wherein the actuating stepcomprises pushing the at least one locking device line into an openposition.
 11. The method of claim 9, wherein the actuating stepcomprises positioning the deployment line into the at least one lockingdevice.
 12. The method of claim 9, wherein the actuating step comprisesusing an attachment tool for moving the at least one locking device toan open position.
 13. The method of claim 8, further comprisingreturning the at least one locking device to a locked position afterinsertion of the deployment line.
 14. The method of claim 8, furthercomprising actuating the at least one locking device into a lockedposition after coupling the deployment line with the at least onelocking device.
 15. The method of claim 8, further comprisingautomatically returning the at least one locking device to a lockedposition after insertion of the deployment line into the at least onelocking device.
 16. A method for retrieving a plurality of seismic nodesattached to a deployment line from a body of water, the methodcomprising: retrieving a deployment line onto a marine vessel from abody of water, wherein a plurality of seismic nodes is directly attachedto the deployment line by at least one locking device located on each ofthe plurality of seismic nodes; and detaching each of the plurality ofseismic nodes from the deployment line after being retrieved on themarine vessel by actuating the at least one locking device to an openposition, and positioning the deployment line away from the at least onelocking device.
 17. The method of claim 16, wherein the actuating stepcomprises pushing the at least one locking device line into an openposition.
 18. The method of claim 16, wherein the positioning stepautomatically moves the at least one locking device into a closedposition.
 19. The method of claim 16, wherein the positioning stepcomprises moving the deployment line out of the at least one lockingdevice.
 20. The method of claim 16, wherein the positioning stepcomprises moving the at least one locking device away from thedeployment line.